EP3709505B1 - Verfahren zur steuerung einer mehrphasigen elektrischen maschine - Google Patents

Verfahren zur steuerung einer mehrphasigen elektrischen maschine Download PDF

Info

Publication number
EP3709505B1
EP3709505B1 EP19162064.0A EP19162064A EP3709505B1 EP 3709505 B1 EP3709505 B1 EP 3709505B1 EP 19162064 A EP19162064 A EP 19162064A EP 3709505 B1 EP3709505 B1 EP 3709505B1
Authority
EP
European Patent Office
Prior art keywords
electrical machine
harmonic
current
control
current signature
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19162064.0A
Other languages
English (en)
French (fr)
Other versions
EP3709505A1 (de
Inventor
Panagiotis KAKOSIMOS
Rahul Kanchan
Georgios STAMATIOU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG
Priority to EP19162064.0A priority Critical patent/EP3709505B1/de
Priority to US16/749,057 priority patent/US10985682B2/en
Priority to CN202010107777.3A priority patent/CN111697896B/zh
Publication of EP3709505A1 publication Critical patent/EP3709505A1/de
Application granted granted Critical
Publication of EP3709505B1 publication Critical patent/EP3709505B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present disclosure generally relates to multi-phase electrical machines and in particular to a method of controlling a multi-phase electrical machine.
  • One of the most widely used methods for detecting fault conditions in electrical machines is performing a Fourier transform on the sensed current signal over at least a portion of the period of the time to provide the current signal spectra. The peaks in the current signal spectrum are located and their values are compared with those during healthy operation. A method of this type is disclosed in US4761703A .
  • an object of the present disclosure is to provide a method of controlling a multi-phase electrical machine which solves, or at least mitigates, the problems of the prior art.
  • a method of controlling a multi-phase electrical machine by means of a power converter comprising: a) controlling the electrical machine by utilising vector space decomposition, VSD, wherein the controlling involves releasing control of the current of a harmonic while maintaining control of the current of the fundamental, b) measuring phase currents of the electrical machine while the control of the current of the harmonic is released, c) transforming the current measurements using VSD to obtain a current signature of the harmonic, and d) determining whether a fault is present in the electrical machine or the power converter based on a comparison of the current signature with a reference current signature of the harmonic.
  • VSD vector space decomposition
  • the harmonic By releasing control of a harmonic, the harmonic is subjected to no control. This means that the harmonic will become present in the current in the electrical machine, and will hence be included in the current measurements obtained in step b).
  • the VSD approach in multi-phase machines enables a decomposition of the harmonics in different orthogonal subspaces.
  • the harmonic may be identified in its subspace and the presence of a fault condition may thereby be determined based on the current signature of the harmonic in its subspace. Since the fundamental is still under control, the control of the electrical machine is not affected. The method is hence non-invasive in the sense that it does not affect the load.
  • step d) When step d) has been performed, the harmonic is controlled to zero, whilst control of the fundamental is maintained. In this manner, any harmonic losses occurring during the release of control of the harmonic may be eliminated as soon as the monitoring of the electrical machine and/or the power converter has been performed.
  • the harmonic may be an odd harmonic.
  • the harmonic may be a low-order harmonic, such as the 3 rd , the 5 th , the 7 th or the 9 th harmonic etc. up to the number of phases m if m is an odd number or up to the number of phases m minus one, i.e. m-1, if m is an even number.
  • control of a harmonic with an order as low as possible, e.g. the lowest harmonic present in the current.
  • the harmonic content may depend on the configuration of the electrical machine. For example, if the electrical machine comprises two three-phase windings where the neutrals are not connected, the 3 rd harmonic will not be present. In this case, control of the 5 th harmonic may for example be released. In configurations where the 3 rd harmonic is present, the control of the 3 rd harmonic may be released.
  • step a) the electrical machine is controlled utilising VSD, wherein the controlling prior to step a) preferably involves controlling the current of the harmonic to zero while maintaining control of the current of the fundamental.
  • One embodiment comprises controlling the electrical machine after step d) by utilising VSD, wherein the controlling involves controlling the current of the harmonic to zero. Control of the current of the fundamental is maintained.
  • step d) it is determined that a fault is present in the electrical machine or in the power converter in case the current signature deviates from the reference current signature with more than a predetermined amount.
  • the current signature may be compared with reference fault current signatures in case the current signature deviates from the reference current signature.
  • Each reference fault current signature may be associated with a specific type of fault, such as power converter fault, e.g. a semiconductor fault of one of the switches in the power converter, or an electrical machine fault, such as an eccentricity fault, or a rotor or stator short circuit fault, e.g. turn-to-turn short circuit faults.
  • step a) involves releasing control of a plurality of harmonics while maintaining control of the current of the fundamental, wherein step c) involves obtaining a current signature of each respective harmonic, and step d) involves comparing each current signature with a respective reference current signature.
  • each of the current signature and the reference current signature is a magnitude or trajectory of the current in a rotating reference frame or a stator reference frame associated with the harmonic.
  • the current signature may for example be the magnitude of the current in a rotating reference frame such as the dq-frame or the ⁇ -stator reference frame.
  • the current signature could alternatively be the trajectory of the current during e.g. one or more time periods of the fundamental.
  • the reference current signature is a current signature of an earlier iteration of steps a)-d).
  • the last iteration may for example be the last iteration before the current iteration.
  • the reference current signature may thereby be dynamically updated as the machine ages. This may provide a more precise indication of whether a fault is present, since the characteristics of the electrical machine may change somewhat during its lifetime.
  • One embodiment comprises, in case it is determined in step d) that no fault is present, storing the current signature for use as a reference current signature in a later iteration of steps a)-d).
  • the later iteration may for example be the next iteration of steps a)-d).
  • One embodiment comprises obtaining a speed of the electrical machine, obtaining a reference magnitude of a predetermined harmonic for the speed, and in case the reference magnitude of the predetermined harmonic is larger than a predetermined threshold value, reducing the speed of the electrical machine prior to step a).
  • the predetermined harmonic may for example be the harmonic that is released from control in step a).
  • the reference magnitude of the predetermined harmonic may for example be obtained from a look-up table which comprises magnitudes for the harmonic at different speeds, and optionally for different loads of the electrical machine.
  • the magnitude of the harmonic(s) present in the electrical machine in the event that it/they are released from control may be dependent of the speed and the load of the electrical machine.
  • the speed of the electrical machine is reduced before step a).
  • One embodiment comprises performing steps a)-d) as soon as a predetermined amount of time has lapsed since the previous iteration of steps a)-d). Steps a)-d) may for example be performed once an hour, once a day, once a week, or at any interval that is deemed appropriate for a particular application. When steps a)-d) are not being performed the electrical machine may be operated in a regular manner, e.g. by controlling the fundamental as desired and controlling the one or more harmonics to zero.
  • the multi-phase electrical machine comprises at least five electrical phases, i.e. m> 5 .
  • a computer program comprising computer code which when executed by processing circuitry of a control system causes the control system to perform the steps of the method of the first aspect.
  • control system for controlling a multi-phase electrical machine by means of a power converter, wherein the control system comprises: processing circuitry, and a storage medium comprising computer code which when executed by the processing circuitry causes the control system to perform the steps of the method of the first aspect.
  • an electrical machine system comprising: a multi-phase electrical machine, a power converter configured to be connected to the electrical machine for controlling the electrical machine, and a control system according to the third aspect configured to control the power converter.
  • Fig. 1 shows an example of a control system 1 for controlling a multi-phase electrical machine, such as a multi-phase motor or a multi-phase generator having a stator and a rotor, by means of one or more power converters.
  • the electrical machine may for example be a synchronous machine.
  • the control system 1 comprises a storage medium 3 and processing circuitry 5.
  • the storage medium comprises computer code which when executed by the processing circuitry 5 causes the control system 1 to perform the steps of the methods described herein.
  • the storage medium 3 may for example be embodied as a memory, such as a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM) and more particularly as a non-volatile storage medium of a device in an external memory such as a USB (Universal Serial Bus) memory or a Flash memory, such as a compact Flash memory.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • the processing circuitry 5 may use any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate arrays (FPGA) etc., capable of executing any herein disclosed operations concerning control of one or more power converters and a multi-phase electrical machine.
  • CPU central processing unit
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate arrays
  • Fig. 2 shows an example of a particular realisation of the control system 1, in terms of functional blocks.
  • the functional blocks may be implemented in software and/or hardware.
  • the control system 1 is configured to control one or more power converters (not shown) configured to control an electrical machine 7.
  • the control system 1, the power converter and the electrical machine 7 form an electrical machine system 9.
  • the control system 1 is configured to control the electrical machine 7 based on the VSD approach.
  • the fundamental and each harmonic e.g. each odd harmonic
  • the VSD approach allows describing the dynamic behaviour of odd harmonics in a multi-phase electrical machine.
  • Odd harmonics include the fundamental frequency i.e. the 1 st harmonic, the 3 rd harmonic, the 5 th harmonic, etc. up to the number of phases m if m is an odd number or up to the number of phases minus one, i.e. m-1, if m is an even number.
  • a plurality of current sensors may be configured to measure the phase current i 1 , i 2 ,..., i m in each phase of the m phases of the electrical machine 7, m being at least 5.
  • the current sensors may be configured to measure the stator current in each phase of the electrical machine 7.
  • the control system 1 has a first transformation block 11 configured to obtain the current measurements from each of the current sensors.
  • the first transformation block 11 is configured to transform the measured phase currents i 1 , i 2 ,..., i m to stator reference frame currents i ⁇ n and i ⁇ n of respective stator reference frames up to a harmonic w.
  • the first transformation block 11 is hence configured to generate (w+1)/2 stator reference frames, one for the fundamental and one for each odd harmonic of the fundamental.
  • the fundamental and the harmonics are decomposed into orthogonal stator reference frame subspaces as a result of using VSD.
  • the first transformation block 11 may be configured to perform a generalised Clarke transformation. In Fig.
  • stator reference frame currents i ⁇ 1 and i ⁇ 1 denote those of a first stator reference frame, which is associated with the fundamental.
  • stator reference frame currents i ⁇ n and i ⁇ n denoted those of the stator reference frame associated with the n th harmonic.
  • the second control block 13 is configured to transform the stator reference frame currents i ⁇ n and i ⁇ n to rotor reference frame currents.
  • the second transformation block 13 may be configured to perform a generalised Park transformation.
  • the control system 1 may be configured to obtain the current electrical machine speed ⁇ m .
  • the control system 1 may furthermore comprise speed adaptors 15 configured to set the rotational speed of the rotor reference frames based on the speed ⁇ m of the electrical machine 7, the number of poles p of the electrical machine 7, and on the order of the harmonic.
  • the rotational speed with respect to the corresponding stator reference frame is the number of poles times the speed ⁇ m
  • the rotational speed of the rotor reference frame of the n th harmonic is n times the speed ⁇ m times the number of poles p.
  • the d-axis rotor reference frame current i d1 of the fundamental is combined with the d-axis reference rotor reference frame current i d 1 ⁇ and the q-axis rotor reference frame current i q1 of the fundamental is combined with q-axis reference rotor reference frame current i q 1 ⁇ to obtain the corresponding control errors.
  • the exemplified control system 1 comprises a plurality of current regulators 19.
  • a first regulator 19 is configured to control a current i d1 based on the control error between the d-axis rotor reference frame current i d1 and the d-axis reference rotor reference frame current i d 1 ⁇ . Corresponding voltage references in the rotor reference frame are thereby obtained.
  • the control system 1 furthermore comprises a third transformation block 21.
  • the speed adaptors 15 are configured to provide the rotational speed of the rotor reference frames based on the speed ⁇ m of the electrical machine 7, the number of poles p of the electrical machine 7, and on the order of the harmonic, to the third transformation block 21 to perform the inverse transformations to the orthogonal stator reference frames.
  • the control system 1 comprises a fourth transformation block 23.
  • the fourth transformation block 23 has inputs connected to the outputs of the third transformation block 21.
  • the fourth transformation block 23 may be configured to perform a generalised inverse Clarke transformation.
  • the control of the electrical machine 7 may be provided by a single power converter or by a plurality of power converters. In the latter case, each power converter may be configured to control a respective group of three windings. The windings of the electrical machine 7 are in this case subdivided into m/3 sets of three-phase windings.
  • the fourth transformation block 23 is configured to generate voltage references for each phase, or in groups of three phases in the abc-frame. The fourth transformation block 23 is configured to generate a voltage reference u 1 ⁇ to u m ⁇ for each phase based on the voltage references u ⁇ m ⁇ and u ⁇ n ⁇ received from the third transformation block 21.
  • the exemplified control system 1 furthermore comprises a modulator block 25.
  • the modulator block 25 has inputs connected to the outputs of the fourth transformation block 23.
  • the modulator block 25 is configured to control all of the phases of the electrical machine 7.
  • the modulator block 25 is configured to control all of the phases of the electrical machine 7 as a single group.
  • the modulator block 25 may be configured to control for example groups of three phases. In this case, the modulator block 25 may be configured to control respective three phases of the electrical machine 7.
  • the modulator block 25 is configured to control switches of the one or more power converters to generate voltages u 1 , u 2 ,..., u m , based on the voltage references voltage references u 1 ⁇ to u m ⁇ obtained from the fourth transformation block 23.
  • the modulator block 25 may for example utilise pulse with modulation (PWM) control of the switches to generate the voltages u 1 , u 2 ,..., u m .
  • PWM pulse with modulation
  • the control of all of the harmonics, or at least all of the harmonics not involved in torque generation may according to one example be released.
  • the control of a harmonic is released, e.g. the control of the lowest available harmonic.
  • the control of the fundamental is maintained, because it is involved in the torque generation of the electrical machine 7.
  • a monitoring action may for example be performed at predetermined intervals, i.e. when a predetermined time has lapsed since the latest monitoring action. Between two monitoring actions, the fundamental as well as all of the harmonics are controlled normally, i.e. the harmonics are controlled to be zero.
  • the releasing of the control of the one or more harmonics may be obtained in a number of different ways.
  • the control error will be zero, and so will the voltage references output by the corresponding regulators 19, and those output by the third transformation block 21. Since the voltage references for the harmonics are zero, the harmonics will not be controlled.
  • the fourth transformation block 23 may set the voltage references of the harmonics to zero, for example by means of a transformation matrix which is provided with zeros in appropriate elements. In normal operation another matrix may be used, which does not set the elements for the harmonics to zero.
  • the current sensors will in case that one or more harmonics have been released from control detect phase currents which include harmonics.
  • the first transformation block 11 will in this case generate stator reference frames for the harmonics which have current signatures of non-zero magnitude.
  • the processing circuitry 5 is configured to compare the current signatures of one or more of the harmonics with the corresponding reference current signature.
  • the current signature may be the magnitude of the harmonic.
  • the magnitude of the harmonic in its stator reference frame may hence be compared with a reference magnitude for the harmonic in question.
  • a deviation between the current signature and the reference current signature which is greater than a predetermined amount, e.g. a predetermined threshold value, it is determined that a fault condition is present.
  • the current signature could as an alternative be the trajectory of the current of the harmonic in the corresponding stator reference frame obtained during e.g. one or more periods of the fundamental.
  • the current signature may be compared with a plurality of reference fault current signatures, each being associated with a certain type of fault. In this manner, if a match is found, the type of fault may be determined.
  • the fourth transformation block 23 hence obtains voltage references for all of the harmonics from the third transformation block 21, and they are actively used in the fourth transformation blocks 23 and the modulator block 25 for controlling the electrical machine 7. The control of the fundamental is maintained.
  • Figs 3a-3d show four examples with a certain fault condition.
  • the fault condition is an eccentricity fault of the rotor.
  • FIG. 3a the stator reference frame current of the 5 th harmonic in the stator reference frame associated with the 5 th harmonic is shown.
  • a first curve 29 shows the current signature of the 5 th harmonic in the form of a trajectory when the 5 th harmonic is controlled to be zero.
  • a second curve 31 shows the current signature of the 5 th harmonic in the form of a trajectory when control of the 5 th harmonic is released.
  • the eccentricity is gradually increased so that the eccentricity is higher in Fig. 3b than in Fig. 3a , and the eccentricity is higher in Fig. 3c than in Fig. 3b and so on.
  • the first curve 29 is substantially the same, or only slightly different as the condition worsens.
  • the 5 th harmonic will hence only change slightly as the condition worsens when the 5 th harmonic is controlled to zero.
  • the second curve 31 shows major changes as the condition worsens. It may thereby be determined that a fault condition is present in the electrical machine 7 by comparing the current signature corresponding to the second curve 31 with a corresponding reference signature curve for the 5 th harmonic without control of the harmonic.
  • the latest current signature for a harmonic when the latest current signature for a harmonic has been obtained by means of the first transformation block 11, the latest current signature may be stored in the storage medium 3 as the reference current signature for a subsequent monitoring action.
  • the reference current signature will thereby be updated for example for every iteration of the method.
  • the same respective reference current signature for each harmonic may be used throughout the lifetime of the electrical machine 7.
  • the control system 1 may be configured to reduce the speed of the electrical machine 7 prior to releasing control of one or more of the harmonics, if considered necessary.
  • the processing circuitry 5 is in this variation configured to obtain the current speed of the electrical machine 7, and optionally a current load, and to obtain a reference magnitude of a predetermined harmonic for the current speed from for example a look-up table which contains a reference magnitude for each harmonic for a plurality of different speeds of the electrical machine 7.
  • the reference magnitudes may also be associated with different loads.
  • the control system 1 reduces the speed of the electrical machine prior to releasing the control of the one or more harmonics.

Claims (12)

  1. Verfahren zur Steuerung einer mehrphasigen elektrischen Maschine (7) mittels eines Leistungswandlers, wobei das Verfahren umfasst:
    a) Steuern der elektrischen Maschine (7) durch Verwenden von Vektorraumzerlegung, VSD, wobei das Steuern ein Freigeben von Steuerung des Stroms einer Oberschwingung bei gleichzeitigem Aufrechterhalten von Steuerung des Stroms der Grundschwingung umfasst,
    b) Messen von Phasenströmen (i1, ..., im) der elektrischen Maschine (7), während die Steuerung des Stroms der Oberschwingung freigegeben wird,
    c) Transformieren der Strommessungen unter Verwendung von VSD, um eine Stromsignatur der Oberschwingung zu erhalten, und
    d) Bestimmen, ob ein Fehler in der elektrischen Maschine (7) oder im Leistungswandler vorliegt, basierend auf einem Vergleich der Stromsignatur mit einer Bezugsstromsignatur der Oberschwingung.
  2. Verfahren nach Anspruch 1, wobei in Schritt d) bestimmt wird, dass ein Fehler in der elektrischen Maschine (7) oder im Leistungswandler vorliegt, falls die Stromsignatur um mehr als einen vorbestimmten Betrag von der Bezugsstromsignatur abweicht.
  3. Verfahren nach Anspruch 1 oder 2, wobei Schritt a) ferner ein Freigeben von Steuerung einer Mehrzahl von Oberschwingungen bei gleichzeitigem Aufrechterhalten von Steuerung des Stroms der Grundschwingung umfasst, wobei Schritt c) ferner ein Erhalten einer Stromsignatur jeder jeweiligen Oberschwingung umfasst, und Schritt d) ferner ein Vergleichen jeder Stromsignatur mit einer jeweiligen Bezugsstromsignatur umfasst.
  4. Verfahren nach einem der vorhergehenden Ansprüche, wobei jede der Stromsignatur und der Bezugsstromsignatur eine Größe oder eine Bahn des Stroms in einem Rotationsbezugsrahmen oder einem Statorbezugsrahmen ist, der mit der Oberschwingung assoziiert ist.
  5. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Bezugsstromsignatur eine Stromsignatur einer früheren Iteration von Schritt a) bis d) ist.
  6. Verfahren nach Anspruch 5, umfassend ein Speichern der Stromsignatur zur Verwendung als Bezugsstromsignatur in einer späteren Iteration von Schritt a) bis d), falls in Schritt d) bestimmt wird, dass kein Fehler vorliegt.
  7. Verfahren nach einem der vorhergehenden Ansprüche, umfassend ein Erhalten einer Drehzahl der elektrischen Maschine (7), Erhalten einer Bezugsgröße einer vorbestimmten Oberschwingung für die Drehzahl und Reduzieren der Drehzahl der elektrischen Maschine vor Schritt a), falls die Bezugsgröße der vorbestimmten Oberschwingung größer als ein vorbestimmter Schwellenwert ist.
  8. Verfahren nach einem der vorhergehenden Ansprüche, umfassend ein Ausführen von Schritt a) bis d), sobald eine vorbestimmte Zeitdauer seit der vorherigen Iteration von Schritt a) bis d) verstrichen ist.
  9. Verfahren nach einem der vorhergehenden Ansprüche, wobei die mehrphasige elektrische Maschine (7) mindestens fünf elektrische Phasen umfasst.
  10. Computerprogramm, umfassend Computercode, der bei Ausführung durch eine Verarbeitungsschaltungsanordnung (5) eines Steuersystems (1) das Steuersystem zum Ausführen der Schritte des Verfahrens nach einem der Ansprüche 1 bis 9 veranlasst.
  11. Steuersystem (1), das zum Steuern einer mehrphasigen elektrischen Maschine (7) mittels eines Leistungswandlers konfiguriert ist, wobei das Steuersystem umfasst:
    eine Verarbeitungsschaltungsanordnung (5), und
    ein Speichermedium (3), das Computercode umfasst, der bei Ausführung durch die Verarbeitungsschaltungsanordnung (5) das Steuersystem (1) zum Ausführen der Schritte des Verfahrens nach einem der Ansprüche 1 bis 9 veranlasst.
  12. Elektromaschinensystem, (9) umfassend:
    eine mehrphasige elektrische Maschine (7),
    einen Leistungswandler, der konfiguriert ist, um mit der elektrischen Maschine (7) zum Steuern der elektrischen Maschine (7) verbunden zu werden, und
    ein Steuersystem (1) nach Anspruch 11, das zum Steuern des Leistungswandler konfiguriert ist.
EP19162064.0A 2019-03-12 2019-03-12 Verfahren zur steuerung einer mehrphasigen elektrischen maschine Active EP3709505B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP19162064.0A EP3709505B1 (de) 2019-03-12 2019-03-12 Verfahren zur steuerung einer mehrphasigen elektrischen maschine
US16/749,057 US10985682B2 (en) 2019-03-12 2020-01-22 Method of controlling a multi-phase electrical machine
CN202010107777.3A CN111697896B (zh) 2019-03-12 2020-02-21 控制多相电机的方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19162064.0A EP3709505B1 (de) 2019-03-12 2019-03-12 Verfahren zur steuerung einer mehrphasigen elektrischen maschine

Publications (2)

Publication Number Publication Date
EP3709505A1 EP3709505A1 (de) 2020-09-16
EP3709505B1 true EP3709505B1 (de) 2021-05-05

Family

ID=65766861

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19162064.0A Active EP3709505B1 (de) 2019-03-12 2019-03-12 Verfahren zur steuerung einer mehrphasigen elektrischen maschine

Country Status (3)

Country Link
US (1) US10985682B2 (de)
EP (1) EP3709505B1 (de)
CN (1) CN111697896B (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114189184B (zh) * 2021-11-25 2023-12-01 上大电气科技(嘉兴)有限公司 一种降低谐波含量的六相电机模型预测控制方法
FR3140948A1 (fr) * 2022-10-14 2024-04-19 Arianegroup Sas Procédé de détermination des potentiels électriques des phases d’un moteur polyphasé

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1287884C (en) * 1987-01-15 1991-08-20 Donald I. Jeerings High impedance fault analyzer in electric power
US4761703A (en) 1987-08-31 1988-08-02 Electric Power Research Institute, Inc. Rotor fault detector for induction motors
JPH09247861A (ja) * 1996-03-13 1997-09-19 Meidensha Corp 高調波抑制装置の制御方式
US8174853B2 (en) * 2007-10-30 2012-05-08 Johnson Controls Technology Company Variable speed drive
EP2541757B1 (de) * 2011-06-30 2016-11-16 ABB Schweiz AG Steuervorrichtung und Verfahren zur Steuerung einer elektrischen Maschine
CN202940580U (zh) * 2012-12-11 2013-05-15 西安优耐达电力技术有限公司 稳波泄流装置
CN103490692B (zh) * 2013-10-13 2016-02-24 中国船舶重工集团公司第七一二研究所 一种多相永磁同步电机电流波形优化控制方法
EP2919026B1 (de) * 2014-03-11 2021-10-27 ABB Schweiz AG Verfahren und System zur Bestimmung einer Synchronmaschinenstörung
CN103929110B (zh) * 2014-04-09 2017-09-15 东南大学 采用占空比直接求解脉宽调制的m相永磁电机控制方法
RU2673499C1 (ru) * 2015-07-17 2018-11-27 Халлибертон Энерджи Сервисез, Инк. Источник электропитания скважинных датчиков, устойчивый к замыканию на землю
CN107644231A (zh) * 2017-09-19 2018-01-30 广东工业大学 一种发电机转子故障诊断方法及装置
US10230321B1 (en) * 2017-10-23 2019-03-12 General Electric Company System and method for preventing permanent magnet demagnetization in electrical machines
CN108768223A (zh) * 2018-05-29 2018-11-06 哈尔滨理工大学 基于定子铜耗最小的十二相永磁同步电机容错控制方法

Also Published As

Publication number Publication date
CN111697896B (zh) 2023-08-01
EP3709505A1 (de) 2020-09-16
US10985682B2 (en) 2021-04-20
CN111697896A (zh) 2020-09-22
US20200295691A1 (en) 2020-09-17

Similar Documents

Publication Publication Date Title
EP3709505B1 (de) Verfahren zur steuerung einer mehrphasigen elektrischen maschine
EP3637115B1 (de) Verfahren und vorrichtung zum erfassen des kapazitätswerts eines filterkondensators in einem wechselrichter
JP5942095B2 (ja) Ｐｍモータの電流制御ゲイン調整方法、電流制御方法および制御装置
EP2173027A2 (de) Steuerungsvorrichtung für einen Induktionsmotor
EP3570432A1 (de) Motorsteuerungsvorrichtung
US20120153881A1 (en) Vector control method for electric motors
US9250068B2 (en) Rotation angle detecting device
JP6116538B2 (ja) モータ制御装置
JP2009112143A (ja) ３相交流モータ制御装置および３相交流モータ制御方法
CN112840557B (zh) 故障诊断方法、电力转换装置、马达模块以及电动助力转向装置
US20210167708A1 (en) Method Of Controlling A Multi-Phase Electrical Machine
CN115913028A (zh) 一种电流采样方法、装置、电子设备及存储介质
KR102246044B1 (ko) 모터 감자 에러 감지 장치 및 방법
EP4152597A1 (de) Vorrichtung zur steuerung einer wechselstromdrehmaschine
EP4057501A1 (de) Vorrichtung für einen motor und verfahren zur entmagnetisierungsdiagnose für eine motorsteuerungsvorrichtung
EP2651028B1 (de) Einschätzung von rastmomenten
Aydin et al. A new real-time fuzzy logic based diagnosis of stator faults for inverter-fed induction motor under low speeds
DE102019114480A1 (de) Motorsteuerungsgerät, Steuerungsverfahren dafür und Programm
JP4346574B2 (ja) サーボモータ制御装置
Peresada et al. Sliding mode observer based control of induction motors: Experimental study
US20190120884A1 (en) Method for ascertaining the phase currents of an electric machine including a converter
CN116826667B (zh) 电机的过流保护方法、系统、设备及存储介质
US20230268859A1 (en) Controller for ac rotary electric machine and electric power steering apparatus
US10014811B2 (en) Apparatus for correcting current reference
EP3691105A1 (de) Stromumwandlungsvorrichtung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20191024

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: H02P 27/08 20060101ALN20201007BHEP

Ipc: H02P 21/00 20160101ALI20201007BHEP

Ipc: H02P 25/22 20060101ALI20201007BHEP

Ipc: H02P 29/024 20160101AFI20201007BHEP

RIC1 Information provided on ipc code assigned before grant

Ipc: H02P 21/00 20160101ALI20201016BHEP

Ipc: H02P 27/08 20060101ALN20201016BHEP

Ipc: H02P 29/024 20160101AFI20201016BHEP

Ipc: H02P 25/22 20060101ALI20201016BHEP

INTG Intention to grant announced

Effective date: 20201102

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ABB SCHWEIZ AG

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1391096

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210515

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602019004345

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1391096

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210805

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210806

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210905

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210805

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210906

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602019004345

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20220208

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210905

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20220331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220312

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220331

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220312

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220331

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230327

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210505

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240320

Year of fee payment: 6

Ref country code: GB

Payment date: 20240321

Year of fee payment: 6